version: 66.07
glider: 543
mission: 6
dive: 261
start: 1 23 113 15 20 34
data:
$ID,543
$MISSION,6
$DIVE,261
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,400
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52459
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4230
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,230
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8576.0303
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,86
$PITCH_MAX,3908
$C_PITCH,1628
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,3400
$C_ROLL_CLIMB,3280
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,2474
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.00061500003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-55.913475
$PRESSURE_SLOPE,0.00011638312
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,15
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,131
$DEVICE4,118
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043127281
$SEABIRD_T_H,0.00062185986
$SEABIRD_T_I,2.2048062e-05
$SEABIRD_T_J,2.2117231e-06
$SEABIRD_C_G,-10.303595
$SEABIRD_C_H,1.1762303
$SEABIRD_C_I,-0.001936322
$SEABIRD_C_J,0.00024357962
$GPS1,230113,150928,-4239.150,847.993,37,0.9,37,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-57.2
$GPS2,230113,151936,-4239.106,848.175,16,2.0,16,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.197,-0.143
$KALMAN_X,-90955.5,-340.3,-109.5,154920.1,5324.9
$KALMAN_Y,129532.1,-258.7,-81.0,-145982.0,3181.4
$MHEAD_RNG_PITCHd_Wd,259.1,42005,-14.7,-8.333
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.47,-146.1,0.0,0.0,0,64,0.00,0.00,-41.22,0.000,2,0.000,0.000,56,3406,2483,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.0,-3.4,5,103,5.65,0.00,-20.00,0.000,6,0.218,0.000,1467,3407,3069,0,0,0,0,0,0
$GC,184,-0.47,-146.1,13.2,-11.7,21,192,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3407,3071,0,0,0,0,0,0
$GC,272,-0.47,-146.1,24.4,-12.1,34,280,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3407,3072,0,0,0,0,0,0
$GC,360,-0.47,-146.1,34.5,-10.8,47,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3407,3072,0,0,0,0,0,0
$GC,612,-0.47,-146.1,60.6,-9.9,88,619,0.00,0.88,0.00,0.000,4,0.000,0.060,1464,3944,3072,0,0,0,0,0,0
$GC,717,-0.47,-146.1,72.1,-11.4,105,724,0.00,0.82,0.00,0.000,6,0.000,0.037,1464,3411,3072,0,0,0,0,0,0
$GC,1078,-0.47,-146.1,110.2,-10.5,156,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3411,3073,0,0,0,0,0,0
$GC,1391,-0.47,-146.1,141.2,-9.8,176,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3411,3074,0,0,0,0,0,0
$GC,1702,-0.47,-146.1,172.4,-10.0,196,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3411,3074,0,0,0,0,0,0
$GC,2015,-0.47,-146.1,202.8,-9.8,216,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3411,3074,0,0,0,0,0,0
$GC,2325,-0.47,-146.1,233.0,-10.1,236,2329,0.00,0.85,0.00,0.000,4,0.000,0.060,1461,3939,3074,0,0,0,0,0,0
$GC,2462,-0.47,-146.1,248.4,-11.1,243,2469,0.00,0.82,0.00,0.000,6,0.000,0.037,1460,3399,3074,0,0,0,0,0,0
$GC,2795,-0.47,-146.1,284.6,-10.7,260,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3399,3074,0,0,0,0,0,0
$GC,3105,-0.47,-146.1,317.0,-10.7,275,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3399,3074,0,0,0,0,0,0
$GC,3414,-0.47,-146.1,347.4,-10.1,290,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3399,3074,0,0,0,0,0,0
$GC,3724,-0.47,-146.1,378.7,-9.9,305,3729,0.00,0.88,0.00,0.000,4,0.000,0.060,1457,3942,3074,0,0,0,0,0,0
$GC,3842,-0.47,-146.1,390.6,-10.2,310,3845,0.00,0.82,0.00,0.000,6,0.000,0.037,1457,3399,3074,0,0,0,0,0,0
$GC,4162,-0.47,-146.1,420.0,-8.8,322,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3399,3074,0,0,0,0,0,0
$GC,4469,-0.47,-146.1,447.3,-9.1,332,4472,0.00,0.88,0.00,0.000,4,0.000,0.060,1453,3943,3074,0,0,0,0,0,0
$GC,4541,-0.47,-146.1,453.9,-9.2,334,4544,0.00,0.82,0.00,0.000,6,0.000,0.036,1453,3398,3074,0,0,0,0,0,0
$GC,4882,-0.47,-146.1,487.7,-10.0,345,4885,0.00,0.88,0.00,0.000,4,0.000,0.060,1448,3941,3074,0,0,0,0,0,0
$GC,4943,-0.47,-146.1,494.3,-10.0,346,4951,0.00,0.82,0.00,0.000,6,0.000,0.037,1449,3401,3074,0,0,0,0,0,0
$GC,5260,-0.47,-146.1,524.8,-9.6,357,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3401,3074,0,0,0,0,0,0
$GC,5562,-0.47,-146.1,553.4,-9.3,367,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3401,3073,0,0,0,0,0,0
$GC,5869,-0.47,-146.1,582.7,-9.5,377,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3401,3072,0,0,0,0,0,0
$GC,6176,-0.47,-146.1,612.2,-9.7,387,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3401,3071,0,0,0,0,0,0
$GC,6481,-0.47,-146.1,643.0,-10.2,397,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3401,3071,0,0,0,0,0,0
$GC,6787,-0.47,-146.1,673.5,-9.8,407,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3401,3071,0,0,0,0,0,0
$GC,7095,-0.47,-146.1,702.5,-9.5,417,7098,0.00,0.88,0.00,0.000,4,0.000,0.062,1445,3938,3070,0,0,0,0,0,0
$GC,7184,-0.47,-146.1,711.5,-10.1,419,7188,0.08,0.82,0.00,0.000,6,0.132,0.037,1469,3404,3070,0,0,0,0,0,0
$GC,7504,-0.47,-146.1,735.5,-7.3,430,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3404,3070,0,0,0,0,0,0
$GC,7809,-0.47,-146.1,756.8,-6.7,440,7810,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3404,3068,0,0,0,0,0,0
$GC,8115,-0.47,-146.1,777.2,-6.9,450,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3404,3068,0,0,0,0,0,0
$GC,8422,-0.47,-146.1,799.2,-7.1,460,8423,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3404,3068,0,0,0,0,0,0
$GC,8727,-0.47,-146.1,820.0,-6.6,470,8728,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3404,3066,0,0,0,0,0,0
$GC,9034,-0.47,-146.1,839.5,-6.4,480,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3404,3066,0,0,0,0,0,0
$GC,9341,-0.47,-146.1,858.5,-6.2,490,9342,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3404,3066,0,0,0,0,0,0
$GC,9646,-0.47,-146.1,877.3,-6.3,500,9647,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3404,3065,0,0,0,0,0,0
$GC,9952,-0.47,-146.1,897.7,-6.8,510,9956,0.00,0.88,0.00,0.000,4,0.000,0.063,1467,3938,3065,0,0,0,0,0,0
$GC,10037,-0.47,-146.1,904.3,-7.9,512,10040,0.00,0.82,0.00,0.000,6,0.000,0.038,1467,3403,3064,0,0,0,0,0,0
$GC,10362,-0.47,-146.1,927.8,-7.2,523,10363,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3403,3064,0,0,0,0,0,0
$GC,10669,-0.47,-146.1,949.9,-7.3,533,10670,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3403,3063,0,0,0,0,0,0
$GC,10974,-0.47,-146.1,973.6,-7.7,543,10975,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3403,3063,0,0,0,0,0,0
$GC,11280,-0.47,-146.1,996.9,-7.7,553,11281,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3403,3063,0,0,0,0,0,0
$STATE,11340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11340,begin apogee
$GC,11347,-0.13,0.0,1001.7,7.8,555,11496,0.38,0.00,140.70,1.810,6,0.122,0.000,1582,3271,2473,0,0,0,0,1,0
$STATE,11497,end apogee,CONTROL_FINISHED_OK
$STATE,11497,begin climb
$GC,11500,0.47,146.1,1006.1,0.0,560,11660,0.57,0.00,150.20,1.763,6,0.080,0.000,1770,3271,1877,0,0,0,0,1,0
$GC,11962,0.47,146.1,953.4,13.0,575,11963,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,3271,1867,0,0,0,0,0,0
$GC,12269,0.47,146.1,914.1,13.0,585,12270,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,3271,1865,0,0,0,0,0,0
$GC,12574,0.47,146.1,874.6,12.8,595,12575,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,3271,1864,0,0,0,0,0,0
$GC,12880,0.47,146.1,835.1,12.9,605,12882,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,3271,1863,0,0,0,0,0,0
$GC,13188,0.47,146.1,795.8,12.7,615,13191,0.00,1.10,0.00,0.000,4,0.000,0.060,1771,3938,1861,0,0,0,0,0,0
$GC,13248,0.47,146.1,786.5,14.5,616,13255,0.00,1.02,0.00,0.000,6,0.000,0.034,1776,3269,1861,0,0,0,0,0,0
$GC,13562,0.47,146.1,742.8,13.7,627,13563,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,3270,1861,0,0,0,0,0,0
$GC,13869,0.47,146.1,702.3,13.0,637,13870,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,3270,1860,0,0,0,0,0,0
$GC,14174,0.47,146.1,661.5,13.2,647,14179,0.00,1.10,0.00,0.000,4,0.000,0.058,1776,3942,1860,0,0,0,0,0,0
$GC,14247,0.47,146.1,650.2,15.5,649,14251,0.00,1.00,0.00,0.000,6,0.000,0.034,1780,3276,1860,0,0,0,0,0,0
$GC,14583,0.47,146.1,603.4,14.0,660,14584,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,3276,1859,0,0,0,0,0,0
$GC,14889,0.47,146.1,562.4,13.1,670,14893,0.00,2.15,0.00,0.000,4,0.000,0.032,1791,1865,1859,0,0,0,0,0,0
$GC,14922,0.47,146.1,558.1,12.1,671,14927,0.00,2.28,0.00,0.000,6,0.000,0.050,1791,3276,1858,0,0,0,0,0,0
$GC,15252,0.47,146.1,512.0,14.1,682,15256,0.00,1.08,0.00,0.000,4,0.000,0.057,1792,3947,1858,0,0,0,0,0,0
$GC,15290,0.47,146.1,505.7,16.0,683,15294,0.00,1.00,0.00,0.000,6,0.000,0.033,1796,3277,1857,0,0,0,0,0,0
$GC,15626,0.47,146.1,454.9,15.2,694,15627,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3277,1857,0,0,0,0,0,0
$GC,15932,0.47,146.1,410.5,14.2,704,15935,0.00,1.08,0.00,0.000,4,0.000,0.056,1796,3941,1857,0,0,0,0,0,0
$GC,15976,0.47,146.1,403.5,15.0,705,15980,0.00,0.98,0.00,0.000,6,0.000,0.033,1801,3286,1857,0,0,0,0,0,0
$GC,16300,0.47,146.1,357.9,14.0,720,16301,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3286,1857,0,0,0,0,0,0
$GC,16609,0.47,146.1,313.8,14.6,735,16610,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3286,1857,0,0,0,0,0,0
$GC,16918,0.47,146.1,267.4,15.3,750,16919,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3286,1857,0,0,0,0,0,0
$GC,17228,0.47,146.1,219.8,15.3,768,17232,0.00,1.08,0.00,0.000,4,0.000,0.056,1801,3953,1857,0,0,0,0,0,0
$GC,17285,0.47,146.1,210.8,15.4,771,17288,0.00,1.00,0.00,0.000,6,0.000,0.032,1806,3282,1857,0,0,0,0,0,0
$GC,17616,0.47,146.1,158.4,15.4,792,17617,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,3282,1857,0,0,0,0,0,0
$GC,17928,0.47,146.1,108.4,16.1,812,17929,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,3282,1857,0,0,0,0,0,0
$GC,18272,0.47,146.1,58.4,12.7,864,18280,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,3283,1857,0,0,0,0,0,0
$GC,18530,0.47,146.1,27.3,11.9,905,18540,0.00,2.15,0.00,0.000,4,0.000,0.030,1817,1867,1857,0,0,0,0,0,0
$GC,18619,0.47,146.1,17.4,10.1,918,18630,0.12,2.30,0.00,0.000,6,0.129,0.049,1778,3286,1857,0,0,0,0,0,0
$GC,18713,0.47,146.1,7.9,12.2,931,18722,0.00,1.05,0.00,0.000,4,0.000,0.056,1778,3941,1857,0,0,0,0,0,0
$STATE,18749,end climb,SURFACE_DEPTH_REACHED
$STATE,18749,begin surface coast
$FINISH,1.1,1.025917
$STATE,18775,end surface coast,CONTROL_FINISHED_OK
$STATE,18775,begin surface
$SM_CCo,18792,40.90,0.706,1,0,1535,230.09
$SM_GC,1.89,0.00,0.00,40.90,0.000,0.000,0.706,47,3403,1535,-4.94,0.08,230.09
$IRIDIUM_FIX,-4227.40,849.22,230113,090953
$TT8_MAMPS,0.025466
$HUMID,56.02
$INTERNAL_PRESSURE,9.01519
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,22.1,44.615
$10V_AH,10.0,28.603
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,11.350,33.225,290.900,40.900,0.000,31.255,51.629,341.156,0.000,0.000,19.201,2286.828,13214.459,414.298,2573.505,953.205,33.371,1333.482,0.000,2412.400,0.000,1.010,0.000
$DEVICE_MAMPS,218.025,63.495,1809.990,706.095,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,617.599,2061.518,921.621,428.471,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353908
$DATA_FILE_SIZE,67154,940
$CAP_FILE_SIZE,125817,0
$CFSIZE,259252224,241868800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,230113,203553,-4239.538,846.052,38,0.9,38,-25.1